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Diffstat (limited to 'kernel/kernel.c')
-rw-r--r--kernel/kernel.c95
1 files changed, 59 insertions, 36 deletions
diff --git a/kernel/kernel.c b/kernel/kernel.c
index b466351..74dda7e 100644
--- a/kernel/kernel.c
+++ b/kernel/kernel.c
@@ -35,7 +35,7 @@
#define HI8(x) ((uint8_t)((uint16_t)(x) >> 8))
#define NOW(hi, lo) (((uint32_t)(hi) << 0x10) | (lo))
#define DISTANCE(from, to) ((int32_t)((to) - (from)))
-#define SCHEDULE TIMER1_COMPA_vect
+#define SLICE USEC(100)
struct task {
uint32_t release; /* release time */
@@ -64,6 +64,28 @@ struct kern {
uint8_t reboot;
} kern;
+NAKED(swtch)
+{
+ struct queue *rq;
+
+ pusha();
+
+ /* pick hightes rq, cannot fail */
+ for (rq = kern.rq; TAILQ_EMPTY(rq); rq++)
+ ;
+
+ /* switch context */
+ kern.cur->sp = SP;
+ kern.cur = TAILQ_FIRST(rq);
+ SP = kern.cur->sp;
+
+ /* set task slice timeout */
+ OCR1B = TCNT1 + SLICE;
+
+ popa();
+ ret();
+}
+
ISR(TIMER1_OVF_vect)
{
if (!kern.reboot)
@@ -72,16 +94,13 @@ ISR(TIMER1_OVF_vect)
++kern.cycles;
}
-ISR(TIMER1_COMPA_vect, ISR_NAKED)
+ISR(TIMER1_COMPA_vect)
{
struct task *tp, *tmp;
- struct queue *rq;
uint32_t now;
uint16_t nexthit;
int32_t dist;
- pusha();
-
/* grab time as early as possible */
now = NOW(kern.cycles, TCNT1);
nexthit = UINT16_MAX;
@@ -98,29 +117,20 @@ ISR(TIMER1_COMPA_vect, ISR_NAKED)
nexthit = dist;
}
- /* reschedule current task if it's still at head of runq */
- if (kern.cur == TAILQ_FIRST(kern.cur->rq)) {
- TAILQ_REMOVE(kern.cur->rq, kern.cur, r_link);
- if (kern.cur->prio > RT && kern.cur->prio < RR)
- kern.cur->prio++;
- kern.cur->rq = &kern.rq[kern.cur->prio];
- TAILQ_INSERT_TAIL(kern.cur->rq, kern.cur, r_link);
- }
-
- /* pick hightes rq, cannot fail */
- for (rq = kern.rq; TAILQ_EMPTY(rq); rq++)
- ;
-
- /* switch context */
- kern.cur->sp = SP;
- kern.cur = TAILQ_FIRST(rq);
- SP = kern.cur->sp;
-
- /* set timer */
+ /* set next wakeup timer */
OCR1A = TCNT1 + nexthit;
+}
- popa();
- reti();
+ISR(TIMER1_COMPB_vect)
+{
+ /* reschedule current task if it've used its time slice */
+ TAILQ_REMOVE(kern.cur->rq, kern.cur, r_link);
+ if (kern.cur->prio > RT && kern.cur->prio < RR)
+ kern.cur->prio++;
+ kern.cur->rq = &kern.rq[kern.cur->prio];
+ TAILQ_INSERT_TAIL(kern.cur->rq, kern.cur, r_link);
+
+ swtch();
}
void
@@ -141,8 +151,9 @@ init(uint8_t sema, uint8_t stack)
TCNT1 = 0; /* reset timer */
TCCR1A = 0; /* normal operation */
TCCR1B = TIMER_FLAGS; /* prescale */
- TIMSK1 = (_BV(OCIE1A) | _BV(TOIE1)); /* enable interrupts */
- OCR1A = 0; /* default overflow */
+ TIMSK1 = _BV(OCIE1A)|_BV(OCIE1B)|_BV(TOIE1); /* enable interrupts */
+ OCR1A = 0;
+ OCR1B = 0;
/* init queues */
@@ -212,7 +223,9 @@ exec(void (*fun)(void *), void *args, uint8_t stack, uint8_t prio)
tp->rq = &kern.rq[tp->prio];
TAILQ_INSERT_TAIL(tp->rq, tp, r_link);
- SCHEDULE();
+ swtch();
+
+ sei();
}
void
@@ -224,12 +237,13 @@ wait(uint8_t chan)
/* semaphore busy, go into wait queue */
TAILQ_REMOVE(kern.cur->rq, kern.cur, r_link);
TAILQ_INSERT_TAIL(&kern.wq[chan], kern.cur, w_link);
- SCHEDULE();
+ swtch();
} else {
/* occupy semaphore and continue */
kern.semaphore |= _BV(chan);
- sei();
}
+
+ sei();
}
void
@@ -245,12 +259,13 @@ signal(uint8_t chan)
kern.cur->prio = kern.cur->defprio;
kern.cur->rq = &kern.rq[kern.cur->prio];
TAILQ_INSERT_TAIL(kern.cur->rq, tp, r_link);
- SCHEDULE();
+ swtch();
} else {
/* clear semaphore and continue */
kern.semaphore &= ~_BV(chan);
- sei();
}
+
+ sei();
}
void
@@ -261,7 +276,9 @@ sleep(uint32_t sec, uint32_t usec)
kern.cur->release += SEC(sec) + USEC(usec);
TAILQ_REMOVE(kern.cur->rq, kern.cur, r_link);
TAILQ_INSERT_TAIL(&kern.tq, kern.cur, t_link);
- SCHEDULE();
+ swtch();
+
+ sei();
}
void
@@ -269,7 +286,11 @@ yield(void)
{
cli();
- SCHEDULE();
+ TAILQ_REMOVE(kern.cur->rq, kern.cur, r_link);
+ TAILQ_INSERT_TAIL(kern.cur->rq, kern.cur, r_link);
+ swtch();
+
+ sei();
}
void
@@ -279,7 +300,9 @@ suspend(void)
/* TODO: free memory */
TAILQ_REMOVE(kern.cur->rq, kern.cur, r_link);
- SCHEDULE();
+ swtch();
+
+ sei();
}
uint32_t